{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 47,
   "metadata": {},
   "outputs": [],
   "source": [
    "%matplotlib inline\n",
    "import pandas as pd\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "import time\n",
    "from PIL import Image\n",
    "from PIL import ImageDraw\n",
    "plt.style.use({'figure.figsize':(5, 5)})"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 48,
   "metadata": {},
   "outputs": [],
   "source": [
    "Velocity_tripod=0.289*40\n",
    "Up_D=np.array([-40,-20,0,20,40])\n",
    "Left_D=np.array([-60,-80,-100,-120])\n",
    "Right_D=np.array([60,80,100,120])\n",
    "Robot_radium=40"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 49,
   "metadata": {},
   "outputs": [],
   "source": [
    "Q_table1_state=np.array(['L0R0U0','L0R0U1','L0R0U2','L0R0U3',\n",
    "                'L0R1U0','L0R1U1','L0R1U2','L0R1U3',\n",
    "                'L0R2U0','L0R2U1','L0R2U2','L0R2U3',\n",
    "                'L0R3U0','L0R3U1','L0R3U2','L0R3U3',\n",
    "                'L1R0U0','L1R0U1','L1R0U2','L1R0U3',\n",
    "                'L1R1U0','L1R1U1','L1R1U2','L1R1U3',\n",
    "                'L1R2U0','L1R2U1','L1R2U2','L1R2U3',\n",
    "                'L1R3U0','L1R3U1','L1R3U2','L1R3U3',\n",
    "                'L2R0U0','L2R0U1','L2R0U2','L2R0U3',\n",
    "                'L2R1U0','L2R1U1','L2R1U2','L2R1U3',\n",
    "                'L2R2U0','L2R2U1','L2R2U2','L2R2U3',\n",
    "                'L2R3U0','L2R3U1','L2R3U2','L2R3U3',\n",
    "                'L3R0U0','L3R0U1','L3R0U2','L3R0U3',\n",
    "                'L3R1U0','L3R1U1','L3R1U2','L3R1U3',\n",
    "                'L3R2U0','L3R2U1','L3R2U2','L3R2U3',\n",
    "                'L3R3U0','L3R3U1','L3R3U2','L3R3U3'])\n",
    "Q_table2_state=np.array(['L60D0/30','L180D0/30','L250D0/30','L300D0/30',\n",
    "                'L60D30/60','L180D30/60','L250D30/60','L300D30/60',\n",
    "                 'L60D60/90','L180D60/90','L250D60/90','L300D60/90',\n",
    "                'L60D90/120','L180D90/120','L250D90/120','L300D90/120',\n",
    "                'L60D120/150','L180D120/150','L250D120/150','L300D120/150',\n",
    "                'L60D150/180','L180D150/180','L250D150/180','L300D150/180',\n",
    "                'L60D180/210','L180D180/210','L250D180/210','L300D180/210',\n",
    "                'L60D210/240','L180D210/240','L250D210/240','L300D210/240',\n",
    "                'L60D240/270','L180D240/270','L250D240/270','L300D240/270',\n",
    "                'L60D270/300','L180D270/300','L250D270/300','L300D270/300',\n",
    "                'L60D300/330','L180D300/330','L250D300/330','L300D300/330',\n",
    "                 'L60D330/360','L180D330/360','L250D330/360','L300D330/360'])\n",
    "Q_table1_action=np.array(['Up','Left_45D','Right_45D'])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 50,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[-24.62277603  17.06473579  16.55107006  17.0196781 ]\n",
      " [ 19.05728693  17.63935626  17.00640946  17.1668592 ]\n",
      " [ 19.66578675  17.54354477  14.73099071  14.86500902]\n",
      " [ 19.91171264 -15.50714525  17.70065142  17.92763426]\n",
      " [-85.86446013  17.04326148  16.95608749  17.28361326]\n",
      " [ 18.41481904  17.97435491  17.52976874  18.18513114]\n",
      " [ 19.63650141  18.57422041  17.25156554  17.86311027]\n",
      " [ 19.91715517  18.91568998  18.03467623  18.4483734 ]\n",
      " [ 14.80059619  17.51862888  17.01658842  18.49721911]\n",
      " [ 19.37708817  18.49523286  17.59429091  18.69833424]]\n",
      "****************\n",
      "[[ 285.13710986  250.13541598  216.81415767]\n",
      " [  -5.           -5.21129576   -6.93722021]\n",
      " [ -10.          -10.11279885  -12.07253466]\n",
      " [ -15.          -15.57454709  -16.13086534]\n",
      " [ 260.44855442  283.77723211  208.19530717]\n",
      " [  -6.           -5.           -7.87605593]\n",
      " [ -11.          -10.          -13.72519212]\n",
      " [ -16.          -15.          -19.17560281]\n",
      " [ 212.7447237   247.32687124  176.98650425]\n",
      " [  -7.28902254   -5.70589039  -10.6674693 ]]\n"
     ]
    }
   ],
   "source": [
    "Q_Table1_avoid=np.loadtxt(r\"E:\\Graduate\\python\\Q_Table_notgait_finish\\Q_Table1_notgait\\Q_Table1_notgait_1.txt\")\n",
    "Q_Table2_arrive=np.loadtxt(r\"E:\\Graduate\\python\\Q_Table_notgait_finish\\Q_Table2_notgait\\Q_Table2_notgait_1.txt\")\n",
    "print(Q_Table1_avoid[:10])\n",
    "print(\"****************\")\n",
    "print(Q_Table2_arrive[:10])"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 51,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Draw_map1(Destination_x,Destination_y):\n",
    "    im=Image.new('RGB',size=(2000,2000),color=(0,0,0))\n",
    "    draw=ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255)) \n",
    "    draw.rectangle((1500,1000,1650,1150),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((400,700,550,850),(0,0,0), (0,0,0)) \n",
    "    draw.rectangle((200,300,350,450),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((1500,500,1550,650),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((1200,1400,1350,1550),(0,0,0), (0,0,0)) \n",
    "    draw.rectangle((700,1200,850,1350),(0,0,0), (0,0,0)) \n",
    "    draw.ellipse((300,1600,450,1750),(0,0,0), (0,0,0)) \n",
    "    draw.rectangle((100,1100,250,1250),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1100,250,1250,400),(0,0,0),(0,0,0)) \n",
    "    draw.polygon((900, 1070,1120, 1000,1150, 1100, 1100,1090,1050, 1200),(0,0,0),(0,0,0))\n",
    "    draw.pieslice((750, 1700, 900, 1850), 0,180,(0,0,0),(0,0,0))\n",
    "    draw.ellipse((900,550,1050,700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((650,100,750,200),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((1700,130,1800,230),(0,0,0),(0,0,0))\n",
    "#     draw.polygon((150, 180, 200, 180, 250, 120, 230, 90, 130, 100),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Destination_x-20,Destination_y-20,Destination_x+20,Destination_y+20),(218,112,214),(218,112,214))\n",
    "    return im\n",
    "# im=Draw_map1()\n",
    "# plt.imshow(im)\n",
    "# plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 52,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Draw_map2(Destination_x,Destination_y):\n",
    "    im=Image.new('RGB',size=(2000,2000),color=(0,0,0))\n",
    "    draw=ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255)) \n",
    "    draw.rectangle((1000,300,1100,1700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Destination_x-20,Destination_y-20,Destination_x+20,Destination_y+20),(218,112,214),(218,112,214))\n",
    "    return im\n",
    "#im=Draw_map2(1750,250)\n",
    "#plt.imshow(im)\n",
    "#plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 53,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Set_destination(x,y):\n",
    "    return x,y\n",
    "\n",
    "def Start_point(x,y,angle):\n",
    "    return x,y,angle"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 54,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Scan_1(Current_x,Current_y,Angle,im):\n",
    "    Distance_level=0\n",
    "    Obstacle_distance=Robot_radium\n",
    "    Obstacle_distance_x=Current_x+Obstacle_distance*np.cos(Angle/180*np.pi)\n",
    "    Obstacle_distance_y=Current_y+Obstacle_distance*np.sin(Angle/180*np.pi)\n",
    "    while(im.getpixel((Obstacle_distance_x,Obstacle_distance_y))!=(0,0,0) and Obstacle_distance<250):#getpixiel obtains the degree of Gray Scale\n",
    "        Obstacle_distance+=5  #Search interval, can be changed\n",
    "        Obstacle_distance_x=Current_x+Obstacle_distance*np.cos(Angle/180*np.pi)\n",
    "        Obstacle_distance_y=Current_y+Obstacle_distance*np.sin(Angle/180*np.pi)\n",
    "    test_value=np.random.random()*12\n",
    "    if 0<=Obstacle_distance<test_value+90:\n",
    "        Distance_level=0 #Nearear\n",
    "    elif test_value+90<=Obstacle_distance<170:\n",
    "        Distance_level=1 #Near\n",
    "    elif 170<=Obstacle_distance<250:\n",
    "        Distance_level=2 #Medium\n",
    "    else:\n",
    "        Distance_level=3 #Far\n",
    "    return Distance_level,Obstacle_distance\n",
    "def Direction_min_level_1(Degree,Current_x,Current_y,Current_angle,im):\n",
    "    Level=[]\n",
    "    Distance=[]\n",
    "    Degree=Degree+Current_angle\n",
    "    for i in Degree:\n",
    "        Level.append((Scan_1(Current_x,Current_y,i,im))[0])\n",
    "        Distance.append((Scan_1(Current_x,Current_y,i,im))[1])\n",
    "    return min(Level),min(Distance)\n",
    "def Output_state_index_1(Left_min_level,Right_min_level,Up_min_level):\n",
    "    LRU=[]\n",
    "    LRU.append(Left_min_level)\n",
    "    LRU.append(Right_min_level)\n",
    "    LRU.append(Up_min_level)\n",
    "    return LRU[0]*16+LRU[1]*4+LRU[2]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 55,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Robot_destination_2(Destination_x,Destination_y,Current_x,Current_y,Current_angle):\n",
    "    #Left-negative,180-360 |||| Right-positive,0-180\n",
    "    Delta_x=Destination_x-Current_x\n",
    "    Delta_y=Destination_y-Current_y\n",
    "    Distance=np.sqrt(Delta_x*Delta_x+Delta_y*Delta_y)\n",
    "    Direct_angle=(np.arctan(Delta_y/Delta_x))*180/np.pi\n",
    "    if Delta_x<0:\n",
    "        Direct_angle=Direct_angle+180\n",
    "    True_angle=(Current_angle-Direct_angle)%360\n",
    "    if True_angle>180:\n",
    "        return 360-True_angle,'right',Distance\n",
    "    else:\n",
    "        return True_angle,'left',Distance\n",
    "def Is_arrive_2(Current_x,Current_y,im):\n",
    "    Arrive=False\n",
    "    Crash=False\n",
    "    Degree=[-150,-120,-90,-60,-30,0,30,60,90,120,150,180]\n",
    "    Distance=np.arange(0,40,5)\n",
    "    for i in Distance:\n",
    "        for j in Degree:\n",
    "            x=Current_x+i*np.cos(j/180*np.pi)\n",
    "            y=Current_y+i*np.sin(j/180*np.pi)\n",
    "            if (im.getpixel((x,y)))==(0,0,0):\n",
    "                Crash=True\n",
    "                break\n",
    "            if (im.getpixel((x,y)))==(218,112,214):\n",
    "                Arrive=True\n",
    "                break\n",
    "        if Arrive==True or Crash==True:\n",
    "                break\n",
    "    return Arrive\n",
    "def Output_state_index_2(True_angle,Left_right,Distance):\n",
    "    if 0<=Distance<60:\n",
    "        Distance_level=0\n",
    "    elif 60<=Distance<180:\n",
    "        Distance_level=1\n",
    "    elif 180<=Distance<250:\n",
    "        Distance_level=2\n",
    "    else:\n",
    "        Distance_level=3\n",
    "    \n",
    "    Angle_level=True_angle//30\n",
    "    \n",
    "    if Left_right=='right':\n",
    "        If_left_right=1\n",
    "        State_number=int(Distance_level+24*If_left_right+(5-Angle_level)*4)\n",
    "    elif Left_right=='left':\n",
    "        If_left_right=0\n",
    "        Angle_level=True_angle//30\n",
    "        State_number=int(Distance_level+24*If_left_right+Angle_level*4)\n",
    "    return State_number,Distance_level,Angle_level"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 56,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Is_Crash(Current_x,Current_y,im):\n",
    "    Crash=False\n",
    "    Degree=[-150,-120,-90,-60,-30,0,30,60,90,120,150,180]\n",
    "    Distance=np.arange(0,50,5)\n",
    "    for i in Distance:\n",
    "        for j in Degree:\n",
    "            x=Current_x+i*np.cos(j/180*np.pi)\n",
    "            y=Current_y+i*np.sin(j/180*np.pi)\n",
    "            if (im.getpixel((x,y)))==(0,0,0):\n",
    "                Crash=True\n",
    "                break\n",
    "        if Crash==True:\n",
    "                break\n",
    "    return Crash"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 57,
   "metadata": {},
   "outputs": [],
   "source": [
    "def  Which_table_action(Avoid_action,Arrive_action,Current_x,Current_y,Current_angle,Destination_x,Destination_y,im):\n",
    "    if Avoid_action==0:\n",
    "        Next_x_avoid=Current_x+Velocity_tripod*np.cos(Current_angle/180*np.pi)\n",
    "        Next_y_avoid=Current_y+Velocity_tripod*np.sin(Current_angle/180*np.pi)\n",
    "        Next_angle_avoid=Current_angle\n",
    "    elif Avoid_action==1:\n",
    "        Next_x_avoid=Current_x-Velocity_tripod*np.cos(Current_angle/180*np.pi)\n",
    "        Next_y_avoid=Current_y-Velocity_tripod*np.sin(Current_angle/180*np.pi)\n",
    "        Next_angle_avoid=Current_angle\n",
    "    elif Avoid_action==2:\n",
    "        Next_x_avoid=Current_x\n",
    "        Next_y_avoid=Current_y\n",
    "        Next_angle_avoid=Current_angle-45\n",
    "    elif Avoid_action==3:\n",
    "        Next_x_avoid=Current_x\n",
    "        Next_y_avoid=Current_y\n",
    "        Next_angle_avoid=Current_angle+45\n",
    "        \n",
    "    if Arrive_action==0:\n",
    "        Next_x_arrive=Current_x+Velocity_tripod*np.cos(Current_angle/180*np.pi)\n",
    "        Next_y_arrive=Current_y+Velocity_tripod*np.sin(Current_angle/180*np.pi)\n",
    "        Next_angle_arrive=Current_angle\n",
    "    elif Arrive_action==1:\n",
    "        Next_x_arrive=Current_x\n",
    "        Next_y_arrive=Current_y\n",
    "        Next_angle_arrive=Current_angle-45\n",
    "    elif Arrive_action==2:\n",
    "        Next_x_arrive=Current_x\n",
    "        Next_y_arrive=Current_y\n",
    "        Next_angle_arrive=Current_angle+45\n",
    "        \n",
    "    Next_left_level_1,Next_left_obstacle_distance_1=Direction_min_level_1(Left_D,Next_x_avoid,Next_y_avoid,Next_angle_avoid,im)\n",
    "    Next_right_level_1,Next_right_obstacle_distance_1=Direction_min_level_1(Right_D,Next_x_avoid,Next_y_avoid,Next_angle_avoid,im)\n",
    "    Next_up_level_1,Next_up_obstacle_disance_1=Direction_min_level_1(Up_D,Next_x_avoid,Next_y_avoid,Next_angle_avoid,im)\n",
    "    Next_min_level_1=min(Next_left_level_1,Next_right_level_1,Next_up_level_1)\n",
    "\n",
    "    if  Next_min_level_1==0:\n",
    "        Next_x=Next_x_avoid\n",
    "        Next_y=Next_y_avoid\n",
    "        Next_angle=Next_angle_avoid\n",
    "        Next_action=Avoid_action\n",
    "        print(\"start-----------------------------------------\")\n",
    "        print('Current : Avoid %f %f %f'%(Current_x,Current_y,Current_angle%360))\n",
    "        print('Action=%d'%Next_action)  \n",
    "        print('Next :Avoid %f %f %f'%(Next_x,Next_y,Next_angle%360))\n",
    "        print(\"start-----------------------------------------\")\n",
    "#         print('Min level=%d'%Next_min_level_1)\n",
    "    else:\n",
    "        Next_x=Next_x_arrive\n",
    "        Next_y=Next_y_arrive\n",
    "        Next_angle=Next_angle_arrive\n",
    "        Next_action=Arrive_action\n",
    "        print(\"start-----------------------------------------\")\n",
    "        print('Current : Arrive %f %f %f'%(Current_x,Current_y,Current_angle%360))\n",
    "        print('Action=%d'%Next_action)  \n",
    "        print('Next :Arrive %f %f %f'%(Next_x,Next_y,Next_angle%360))\n",
    "        print(\"stop-----------------------------------------\")\n",
    "\n",
    "    return Next_x,Next_y,Next_angle,Next_action\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 58,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Movement_plot(Destination_x,Destination_y,Vec_x,Vec_y):\n",
    "    k=len(Vec_x)\n",
    "    im=Image.new(\"RGB\", size=(2000,2000),color=(0,0,0))\n",
    "    draw = ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255))\n",
    "    draw.rectangle((1500,1000,1650,1150),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((400,700,550,850),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((200,300,350,450),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1500,500,1550,650),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1200,1400,1350,1550),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((700,1200,850,1350),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((300,1600,450,1750),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((100,1100,250,1250),(0,0,0),(0,0,0)) \n",
    "    draw.ellipse((1100,250,1250,400),(0,0,0),(0,0,0)) \n",
    "    draw.polygon((900, 1070,1120, 1000,1150, 1100, 1100,1090,1050, 1200),(0,0,0),(0,0,0))\n",
    "    draw.pieslice((750, 1700, 900, 1850), 0,180,(0,0,0),(0,0,0))\n",
    "    draw.ellipse((900,550,1050,700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((650,100,750,200),(0,0,0),(0,0,0)) \n",
    "    draw.rectangle((1700,130,1800,230),(0,0,0),(0,0,0))\n",
    "    draw.polygon((150, 180, 200, 180, 250, 120, 230, 90, 130, 100),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Destination_x-20,Destination_y-20,Destination_x+20,Destination_y+20),(218,112,214),(218,112,214))\n",
    "    draw.ellipse((Vec_x[0]-40,Vec_y[0]-40, Vec_x[0]+40,Vec_y[0]+40),(84,255,159),(84,255,159)) \n",
    "    print(k)\n",
    "    for d in range(70):\n",
    "        for i,j in zip(Vec_x[5*d:5*d+5],Vec_y[5*d:5*d+5]):\n",
    "            draw.ellipse((i-35,j-35, i+35,j+35),(84,255,159),(84,255,159)) \n",
    "#         plt.imshow(im)\n",
    "#         plt.savefig((r\"E:\\Graduate\\python\\Q_Table_notgait_finish\\Q_Table_combine_notgait\\Pic\\picture\")+str(d)+\".png\")\n",
    "    return im"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 59,
   "metadata": {},
   "outputs": [],
   "source": [
    "def Movement_plot2(Destination_x,Destination_y,Vec_x,Vec_y):\n",
    "    im=Image.new(\"RGB\", size=(2000,2000),color=(0,0,0))\n",
    "    draw = ImageDraw.Draw(im,mode='RGB')\n",
    "    draw.rectangle((40,40,1960,1960),(255,255,255),(255,255,255))\n",
    "    draw.rectangle((1000,300,1100,1700),(0,0,0),(0,0,0))\n",
    "    draw.ellipse((Vec_x[0]-40,Vec_y[0]-40, Vec_x[0]+40,Vec_y[0]+40),(84,255,159),(84,255,159)) \n",
    "    for i,j in zip(Vec_x[1:],Vec_y[1:]):\n",
    "        draw.ellipse((i-35,j-35, i+35,j+35),(84,255,159),(84,255,159)) \n",
    "    return im\n",
    "\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 60,
   "metadata": {},
   "outputs": [],
   "source": [
    "global Vec_x\n",
    "global Vec_y"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 61,
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "start-----------------------------------------\n",
      "Current : Arrive 500.000000 1500.000000 30.000000\n",
      "Action=1\n",
      "Next :Arrive 500.000000 1500.000000 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 500.000000 1500.000000 345.000000\n",
      "Action=1\n",
      "Next :Arrive 500.000000 1500.000000 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 500.000000 1500.000000 300.000000\n",
      "Action=0\n",
      "Next :Arrive 505.780000 1489.988746 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 505.780000 1489.988746 300.000000\n",
      "Action=0\n",
      "Next :Arrive 511.560000 1479.977493 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 511.560000 1479.977493 300.000000\n",
      "Action=0\n",
      "Next :Arrive 517.340000 1469.966239 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 517.340000 1469.966239 300.000000\n",
      "Action=0\n",
      "Next :Arrive 523.120000 1459.954985 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 523.120000 1459.954985 300.000000\n",
      "Action=0\n",
      "Next :Arrive 528.900000 1449.943732 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 528.900000 1449.943732 300.000000\n",
      "Action=0\n",
      "Next :Arrive 534.680000 1439.932478 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 534.680000 1439.932478 300.000000\n",
      "Action=0\n",
      "Next :Arrive 540.460000 1429.921224 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 540.460000 1429.921224 300.000000\n",
      "Action=0\n",
      "Next :Arrive 546.240000 1419.909971 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 546.240000 1419.909971 300.000000\n",
      "Action=0\n",
      "Next :Arrive 552.020000 1409.898717 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 552.020000 1409.898717 300.000000\n",
      "Action=0\n",
      "Next :Arrive 557.800000 1399.887463 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 557.800000 1399.887463 300.000000\n",
      "Action=0\n",
      "Next :Arrive 563.580000 1389.876210 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 563.580000 1389.876210 300.000000\n",
      "Action=0\n",
      "Next :Arrive 569.360000 1379.864956 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 569.360000 1379.864956 300.000000\n",
      "Action=0\n",
      "Next :Arrive 575.140000 1369.853702 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 575.140000 1369.853702 300.000000\n",
      "Action=0\n",
      "Next :Arrive 580.920000 1359.842449 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 580.920000 1359.842449 300.000000\n",
      "Action=0\n",
      "Next :Arrive 586.700000 1349.831195 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 586.700000 1349.831195 300.000000\n",
      "Action=0\n",
      "Next :Arrive 592.480000 1339.819941 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 592.480000 1339.819941 300.000000\n",
      "Action=0\n",
      "Next :Arrive 598.260000 1329.808688 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 598.260000 1329.808688 300.000000\n",
      "Action=0\n",
      "Next :Avoid 604.040000 1319.797434 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 604.040000 1319.797434 300.000000\n",
      "Action=0\n",
      "Next :Arrive 609.820000 1309.786180 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Arrive 615.600000 1299.774927 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 615.600000 1299.774927 300.000000\n",
      "Action=0\n",
      "Next :Arrive 621.380000 1289.763673 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 621.380000 1289.763673 300.000000\n",
      "Action=1\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=0\n",
      "Next :Avoid 615.600000 1299.774927 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 615.600000 1299.774927 300.000000\n",
      "Action=1\n",
      "Next :Avoid 609.820000 1309.786180 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 300.000000\n",
      "Action=3\n",
      "Next :Avoid 609.820000 1309.786180 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 345.000000\n",
      "Action=3\n",
      "Next :Avoid 609.820000 1309.786180 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 609.820000 1309.786180 30.000000\n",
      "Action=1\n",
      "Next :Arrive 609.820000 1309.786180 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 609.820000 1309.786180 345.000000\n",
      "Action=0\n",
      "Next :Avoid 620.986103 1306.794232 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 620.986103 1306.794232 345.000000\n",
      "Action=3\n",
      "Next :Avoid 620.986103 1306.794232 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 620.986103 1306.794232 30.000000\n",
      "Action=3\n",
      "Next :Avoid 620.986103 1306.794232 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 620.986103 1306.794232 75.000000\n",
      "Action=0\n",
      "Next :Avoid 623.978051 1317.960335 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 623.978051 1317.960335 75.000000\n",
      "Action=0\n",
      "Next :Avoid 626.969999 1329.126437 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 626.969999 1329.126437 75.000000\n",
      "Action=0\n",
      "Next :Avoid 629.961947 1340.292540 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 629.961947 1340.292540 75.000000\n",
      "Action=0\n",
      "Next :Avoid 632.953895 1351.458642 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 632.953895 1351.458642 75.000000\n",
      "Action=0\n",
      "Next :Avoid 635.945843 1362.624745 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 635.945843 1362.624745 75.000000\n",
      "Action=0\n",
      "Next :Avoid 638.937792 1373.790847 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 638.937792 1373.790847 75.000000\n",
      "Action=0\n",
      "Next :Avoid 641.929740 1384.956950 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 641.929740 1384.956950 75.000000\n",
      "Action=0\n",
      "Next :Avoid 644.921688 1396.123053 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 644.921688 1396.123053 75.000000\n",
      "Action=0\n",
      "Next :Avoid 647.913636 1407.289155 75.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 647.913636 1407.289155 75.000000\n",
      "Action=1\n",
      "Next :Arrive 647.913636 1407.289155 30.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 647.913636 1407.289155 30.000000\n",
      "Action=0\n",
      "Next :Avoid 657.924890 1413.069155 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 657.924890 1413.069155 30.000000\n",
      "Action=0\n",
      "Next :Avoid 667.936143 1418.849155 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 667.936143 1418.849155 30.000000\n",
      "Action=0\n",
      "Next :Avoid 677.947397 1424.629155 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 677.947397 1424.629155 30.000000\n",
      "Action=0\n",
      "Next :Avoid 687.958651 1430.409155 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 687.958651 1430.409155 30.000000\n",
      "Action=0\n",
      "Next :Avoid 697.969904 1436.189155 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 697.969904 1436.189155 30.000000\n",
      "Action=1\n",
      "Next :Arrive 697.969904 1436.189155 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 697.969904 1436.189155 345.000000\n",
      "Action=0\n",
      "Next :Avoid 709.136007 1433.197207 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 709.136007 1433.197207 345.000000\n",
      "Action=0\n",
      "Next :Avoid 720.302109 1430.205259 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 720.302109 1430.205259 345.000000\n",
      "Action=0\n",
      "Next :Avoid 731.468212 1427.213311 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 731.468212 1427.213311 345.000000\n",
      "Action=0\n",
      "Next :Avoid 742.634315 1424.221362 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 742.634315 1424.221362 345.000000\n",
      "Action=3\n",
      "Next :Avoid 742.634315 1424.221362 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 742.634315 1424.221362 30.000000\n",
      "Action=0\n",
      "Next :Avoid 752.645568 1430.001362 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 752.645568 1430.001362 30.000000\n",
      "Action=0\n",
      "Next :Avoid 762.656822 1435.781362 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 762.656822 1435.781362 30.000000\n",
      "Action=1\n",
      "Next :Arrive 762.656822 1435.781362 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 762.656822 1435.781362 345.000000\n",
      "Action=0\n",
      "Next :Avoid 773.822924 1432.789414 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 773.822924 1432.789414 345.000000\n",
      "Action=0\n",
      "Next :Avoid 784.989027 1429.797466 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 784.989027 1429.797466 345.000000\n",
      "Action=0\n",
      "Next :Avoid 796.155130 1426.805518 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 796.155130 1426.805518 345.000000\n",
      "Action=0\n",
      "Next :Avoid 807.321232 1423.813570 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 807.321232 1423.813570 345.000000\n",
      "Action=0\n",
      "Next :Avoid 818.487335 1420.821622 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 818.487335 1420.821622 345.000000\n",
      "Action=0\n",
      "Next :Avoid 829.653437 1417.829674 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 829.653437 1417.829674 345.000000\n",
      "Action=0\n",
      "Next :Avoid 840.819540 1414.837725 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 840.819540 1414.837725 345.000000\n",
      "Action=0\n",
      "Next :Avoid 851.985642 1411.845777 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 851.985642 1411.845777 345.000000\n",
      "Action=0\n",
      "Next :Avoid 863.151745 1408.853829 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 863.151745 1408.853829 345.000000\n",
      "Action=0\n",
      "Next :Avoid 874.317847 1405.861881 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 874.317847 1405.861881 345.000000\n",
      "Action=0\n",
      "Next :Avoid 885.483950 1402.869933 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 885.483950 1402.869933 345.000000\n",
      "Action=0\n",
      "Next :Avoid 896.650053 1399.877985 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 896.650053 1399.877985 345.000000\n",
      "Action=0\n",
      "Next :Avoid 907.816155 1396.886036 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 907.816155 1396.886036 345.000000\n",
      "Action=0\n",
      "Next :Avoid 918.982258 1393.894088 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 918.982258 1393.894088 345.000000\n",
      "Action=1\n",
      "Next :Arrive 918.982258 1393.894088 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 918.982258 1393.894088 300.000000\n",
      "Action=0\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Next :Avoid 924.762258 1383.882835 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 924.762258 1383.882835 300.000000\n",
      "Action=0\n",
      "Next :Avoid 930.542258 1373.871581 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 930.542258 1373.871581 300.000000\n",
      "Action=0\n",
      "Next :Avoid 936.322258 1363.860327 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 936.322258 1363.860327 300.000000\n",
      "Action=0\n",
      "Next :Arrive 942.102258 1353.849074 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 942.102258 1353.849074 300.000000\n",
      "Action=0\n",
      "Next :Avoid 947.882258 1343.837820 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 947.882258 1343.837820 300.000000\n",
      "Action=0\n",
      "Next :Arrive 953.662258 1333.826566 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 953.662258 1333.826566 300.000000\n",
      "Action=0\n",
      "Next :Arrive 959.442258 1323.815313 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 959.442258 1323.815313 300.000000\n",
      "Action=0\n",
      "Next :Arrive 965.222258 1313.804059 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 965.222258 1313.804059 300.000000\n",
      "Action=0\n",
      "Next :Arrive 971.002258 1303.792805 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 971.002258 1303.792805 300.000000\n",
      "Action=0\n",
      "Next :Arrive 976.782258 1293.781552 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 976.782258 1293.781552 300.000000\n",
      "Action=0\n",
      "Next :Arrive 982.562258 1283.770298 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 982.562258 1283.770298 300.000000\n",
      "Action=0\n",
      "Next :Arrive 988.342258 1273.759044 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 988.342258 1273.759044 300.000000\n",
      "Action=0\n",
      "Next :Avoid 994.122258 1263.747791 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 994.122258 1263.747791 300.000000\n",
      "Action=3\n",
      "Next :Avoid 994.122258 1263.747791 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 994.122258 1263.747791 345.000000\n",
      "Action=3\n",
      "Next :Avoid 994.122258 1263.747791 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 994.122258 1263.747791 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1004.133511 1269.527791 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1004.133511 1269.527791 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1014.144765 1275.307791 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1014.144765 1275.307791 30.000000\n",
      "Action=1\n",
      "Next :Arrive 1014.144765 1275.307791 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1014.144765 1275.307791 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1025.310868 1272.315842 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1025.310868 1272.315842 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1036.476970 1269.323894 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1036.476970 1269.323894 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1047.643073 1266.331946 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1047.643073 1266.331946 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1058.809175 1263.339998 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1058.809175 1263.339998 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1069.975278 1260.348050 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1069.975278 1260.348050 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1081.141380 1257.356102 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1081.141380 1257.356102 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1092.307483 1254.364153 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1092.307483 1254.364153 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1103.473585 1251.372205 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1103.473585 1251.372205 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1114.639688 1248.380257 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1114.639688 1248.380257 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1114.639688 1248.380257 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1114.639688 1248.380257 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1120.419688 1238.369003 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1120.419688 1238.369003 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1126.199688 1228.357750 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1126.199688 1228.357750 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1131.979688 1218.346496 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1131.979688 1218.346496 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1137.759688 1208.335242 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1137.759688 1208.335242 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1143.539688 1198.323989 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1143.539688 1198.323989 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1149.319688 1188.312735 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1149.319688 1188.312735 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1155.099688 1178.301481 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1155.099688 1178.301481 300.000000\n",
      "Action=3\n",
      "Next :Avoid 1155.099688 1178.301481 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1155.099688 1178.301481 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1166.265790 1175.309533 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1166.265790 1175.309533 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1177.431893 1172.317585 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1177.431893 1172.317585 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1177.431893 1172.317585 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1177.431893 1172.317585 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1183.211893 1162.306331 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1183.211893 1162.306331 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1188.991893 1152.295078 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1188.991893 1152.295078 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1194.771893 1142.283824 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1194.771893 1142.283824 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1200.551893 1132.272570 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1200.551893 1132.272570 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1206.331893 1122.261317 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1206.331893 1122.261317 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1212.111893 1112.250063 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1212.111893 1112.250063 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1217.891893 1102.238809 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1217.891893 1102.238809 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1223.671893 1092.227556 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1223.671893 1092.227556 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1229.451893 1082.216302 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1229.451893 1082.216302 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1229.451893 1082.216302 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1229.451893 1082.216302 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1226.459945 1071.050200 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1226.459945 1071.050200 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1223.467997 1059.884097 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1223.467997 1059.884097 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1220.476049 1048.717994 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1220.476049 1048.717994 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1217.484100 1037.551892 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1217.484100 1037.551892 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1214.492152 1026.385789 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1214.492152 1026.385789 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1211.500204 1015.219687 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1211.500204 1015.219687 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1208.508256 1004.053584 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1208.508256 1004.053584 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1205.516308 992.887482 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1205.516308 992.887482 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1202.524360 981.721379 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1202.524360 981.721379 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1199.532411 970.555277 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1199.532411 970.555277 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1196.540463 959.389174 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1196.540463 959.389174 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1193.548515 948.223071 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1193.548515 948.223071 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1190.556567 937.056969 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1190.556567 937.056969 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1187.564619 925.890866 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1187.564619 925.890866 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1184.572671 914.724764 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1184.572671 914.724764 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1181.580722 903.558661 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1181.580722 903.558661 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1178.588774 892.392559 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1178.588774 892.392559 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1175.596826 881.226456 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1175.596826 881.226456 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1172.604878 870.060354 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1172.604878 870.060354 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1169.612930 858.894251 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1169.612930 858.894251 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1166.620982 847.728148 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1166.620982 847.728148 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1163.629033 836.562046 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1163.629033 836.562046 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1160.637085 825.395943 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1160.637085 825.395943 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1157.645137 814.229841 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1157.645137 814.229841 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1154.653189 803.063738 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1154.653189 803.063738 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1151.661241 791.897636 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1151.661241 791.897636 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1148.669293 780.731533 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1148.669293 780.731533 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1145.677345 769.565431 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1145.677345 769.565431 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1142.685396 758.399328 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1142.685396 758.399328 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1139.693448 747.233226 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1139.693448 747.233226 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1136.701500 736.067123 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1136.701500 736.067123 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1133.709552 724.901020 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1133.709552 724.901020 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1130.717604 713.734918 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1130.717604 713.734918 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1127.725656 702.568815 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1127.725656 702.568815 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1124.733707 691.402713 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1124.733707 691.402713 255.000000\n",
      "Action=3\n",
      "Next :Avoid 1124.733707 691.402713 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1124.733707 691.402713 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1130.513707 681.391459 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1130.513707 681.391459 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1136.293707 671.380205 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1136.293707 671.380205 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1136.293707 671.380205 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1136.293707 671.380205 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1133.301759 660.214103 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1133.301759 660.214103 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1130.309811 649.048000 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1130.309811 649.048000 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1127.317863 637.881898 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1127.317863 637.881898 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1124.325915 626.715795 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1124.325915 626.715795 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1121.333967 615.549693 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1121.333967 615.549693 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1118.342018 604.383590 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1118.342018 604.383590 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1115.350070 593.217488 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1115.350070 593.217488 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1112.358122 582.051385 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1112.358122 582.051385 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1109.366174 570.885282 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1109.366174 570.885282 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1106.374226 559.719180 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1106.374226 559.719180 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1103.382278 548.553077 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1103.382278 548.553077 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1100.390329 537.386975 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1100.390329 537.386975 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1097.398381 526.220872 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1097.398381 526.220872 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1094.406433 515.054770 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1094.406433 515.054770 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1091.414485 503.888667 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1091.414485 503.888667 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1088.422537 492.722565 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1088.422537 492.722565 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1085.430589 481.556462 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1085.430589 481.556462 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1082.438640 470.390359 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1082.438640 470.390359 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1079.446692 459.224257 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1079.446692 459.224257 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1076.454744 448.058154 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1076.454744 448.058154 255.000000\n",
      "Action=0\n",
      "Next :Arrive 1073.462796 436.892052 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1073.462796 436.892052 255.000000\n",
      "Action=1\n",
      "Next :Avoid 1076.454744 448.058154 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1076.454744 448.058154 255.000000\n",
      "Action=1\n",
      "Next :Avoid 1079.446692 459.224257 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1079.446692 459.224257 255.000000\n",
      "Action=3\n",
      "Next :Avoid 1079.446692 459.224257 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1079.446692 459.224257 300.000000\n",
      "Action=3\n",
      "Next :Avoid 1079.446692 459.224257 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1079.446692 459.224257 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1079.446692 459.224257 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1079.446692 459.224257 300.000000\n",
      "Action=3\n",
      "Next :Avoid 1079.446692 459.224257 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1079.446692 459.224257 345.000000\n",
      "Action=3\n",
      "Next :Avoid 1079.446692 459.224257 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1079.446692 459.224257 30.000000\n",
      "Action=1\n",
      "Next :Arrive 1079.446692 459.224257 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1079.446692 459.224257 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1079.446692 459.224257 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1079.446692 459.224257 300.000000\n",
      "Action=3\n",
      "Next :Avoid 1079.446692 459.224257 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1079.446692 459.224257 345.000000\n",
      "Action=3\n",
      "Next :Avoid 1079.446692 459.224257 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1079.446692 459.224257 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1089.457946 465.004257 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1089.457946 465.004257 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1099.469200 470.784257 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1099.469200 470.784257 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1109.480453 476.564257 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1109.480453 476.564257 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1119.491707 482.344257 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1119.491707 482.344257 30.000000\n",
      "Action=1\n",
      "Next :Arrive 1119.491707 482.344257 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1119.491707 482.344257 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1130.657810 479.352309 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1130.657810 479.352309 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1141.823912 476.360361 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1141.823912 476.360361 345.000000\n",
      "Action=3\n",
      "Next :Avoid 1141.823912 476.360361 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1141.823912 476.360361 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1151.835166 482.140361 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1151.835166 482.140361 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1161.846419 487.920361 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1161.846419 487.920361 30.000000\n",
      "Action=0\n",
      "Next :Avoid 1171.857673 493.700361 30.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1171.857673 493.700361 30.000000\n",
      "Action=1\n",
      "Next :Arrive 1171.857673 493.700361 345.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1171.857673 493.700361 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1183.023776 490.708412 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1183.023776 490.708412 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1194.189878 487.716464 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1194.189878 487.716464 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1205.355981 484.724516 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1205.355981 484.724516 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1216.522083 481.732568 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1216.522083 481.732568 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1227.688186 478.740620 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1227.688186 478.740620 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1238.854288 475.748672 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1238.854288 475.748672 345.000000\n",
      "Action=0\n",
      "Next :Avoid 1250.020391 472.756723 345.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1250.020391 472.756723 345.000000\n",
      "Action=1\n",
      "Next :Arrive 1250.020391 472.756723 300.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1250.020391 472.756723 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1255.800391 462.745470 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1255.800391 462.745470 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1261.580391 452.734216 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1261.580391 452.734216 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1267.360391 442.722962 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1267.360391 442.722962 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1273.140391 432.711709 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1273.140391 432.711709 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1278.920391 422.700455 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1278.920391 422.700455 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1284.700391 412.689201 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1284.700391 412.689201 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1290.480391 402.677948 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1290.480391 402.677948 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1296.260391 392.666694 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1296.260391 392.666694 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1302.040391 382.655440 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1302.040391 382.655440 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1307.820391 372.644187 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1307.820391 372.644187 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1313.600391 362.632933 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1313.600391 362.632933 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1319.380391 352.621679 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1319.380391 352.621679 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1325.160391 342.610426 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1325.160391 342.610426 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1330.940391 332.599172 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1330.940391 332.599172 300.000000\n",
      "Action=0\n",
      "Next :Avoid 1336.720391 322.587918 300.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1336.720391 322.587918 300.000000\n",
      "Action=1\n",
      "Next :Arrive 1336.720391 322.587918 255.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1336.720391 322.587918 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1333.728443 311.421816 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1333.728443 311.421816 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1330.736495 300.255713 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1330.736495 300.255713 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1327.744546 289.089611 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1327.744546 289.089611 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1324.752598 277.923508 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1324.752598 277.923508 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1321.760650 266.757406 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1321.760650 266.757406 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1318.768702 255.591303 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1318.768702 255.591303 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1315.776754 244.425201 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1315.776754 244.425201 255.000000\n",
      "Action=0\n",
      "Next :Avoid 1312.784806 233.259098 255.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1312.784806 233.259098 255.000000\n",
      "Action=1\n",
      "Next :Arrive 1312.784806 233.259098 210.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1312.784806 233.259098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1302.773552 227.479098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1302.773552 227.479098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1292.762298 221.699098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1292.762298 221.699098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1282.751045 215.919098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1282.751045 215.919098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1272.739791 210.139098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1272.739791 210.139098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1262.728537 204.359098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1262.728537 204.359098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1252.717284 198.579098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1252.717284 198.579098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1242.706030 192.799098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1242.706030 192.799098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1232.694776 187.019098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1232.694776 187.019098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1222.683523 181.239098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1222.683523 181.239098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1212.672269 175.459098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1212.672269 175.459098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1202.661015 169.679098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1202.661015 169.679098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1192.649762 163.899098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1192.649762 163.899098 210.000000\n",
      "Action=0\n",
      "Next :Avoid 1182.638508 158.119098 210.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1182.638508 158.119098 210.000000\n",
      "Action=1\n",
      "Next :Arrive 1182.638508 158.119098 165.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1182.638508 158.119098 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1171.472405 161.111046 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1171.472405 161.111046 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1160.306303 164.102994 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1160.306303 164.102994 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1149.140200 167.094943 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1149.140200 167.094943 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1137.974098 170.086891 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1137.974098 170.086891 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1126.807995 173.078839 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1126.807995 173.078839 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1115.641893 176.070787 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1115.641893 176.070787 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1104.475790 179.062735 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1104.475790 179.062735 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1093.309688 182.054683 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1093.309688 182.054683 165.000000\n",
      "Action=0\n",
      "Next :Avoid 1082.143585 185.046632 165.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Arrive 1082.143585 185.046632 165.000000\n",
      "Action=1\n",
      "Next :Arrive 1082.143585 185.046632 120.000000\n",
      "stop-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1082.143585 185.046632 120.000000\n",
      "Action=0\n",
      "Next :Avoid 1076.363585 195.057885 120.000000\n",
      "start-----------------------------------------\n",
      "start-----------------------------------------\n",
      "Current : Avoid 1076.363585 195.057885 120.000000\n",
      "Action=0\n",
      "Next :Avoid 1070.583585 205.069139 120.000000\n",
      "start-----------------------------------------\n",
      "341\n"
     ]
    }
   ],
   "source": [
    "def Run_3():\n",
    "    Destination_x,Destination_y=Set_destination(1100,250)\n",
    "    Current_x,Current_y,Current_angle=Start_point(500,1500,30)\n",
    "    im=Draw_map1(Destination_x,Destination_y)\n",
    "    Arrive=False\n",
    "    Crash=False\n",
    "    global Vec_x\n",
    "    global Vec_y\n",
    "    Vec_x=[]\n",
    "    Vec_y=[]\n",
    "    Total_step=0\n",
    "    while Arrive!=True and Total_step<1000:\n",
    "        Current_left_obstacle_level,_=Direction_min_level_1(Left_D,Current_x,Current_y,Current_angle,im)\n",
    "        Current_left_obstacle_level,_=Direction_min_level_1(Right_D,Current_x,Current_y,Current_angle,im)\n",
    "        Current_up_Obstacle_level,C=Direction_min_level_1(Up_D,Current_x,Current_y,Current_angle,im)\n",
    "        Current_state_avoid=Output_state_index_1(Current_left_obstacle_level,Current_left_obstacle_level\n",
    "                                                 ,Current_up_Obstacle_level)\n",
    "\n",
    "        \n",
    "        Avoid_action=np.argmax((Q_Table1_avoid[Current_state_avoid]))\n",
    "\n",
    "        True_angle,Left_right,Distance=Robot_destination_2(Destination_x,Destination_y,Current_x,Current_y,Current_angle)\n",
    "        Current_state_arrive,Distance_level,Angle_level=Output_state_index_2(True_angle,Left_right,Distance)\n",
    "\n",
    "        Arrive_action=np.argmax((Q_Table2_arrive[Current_state_arrive]))\n",
    "\n",
    "        Next_x,Next_y,Next_angle,Next_action=Which_table_action(Avoid_action,Arrive_action,Current_x,Current_y,Current_angle,Destination_x,Destination_y,im)\n",
    "        \n",
    "        Arrive=Is_arrive_2(Next_x,Next_y,im)\n",
    "        \n",
    "        if Arrive==True:\n",
    "            Vec_x.append(Current_x)\n",
    "            Vec_y.append(Current_y)\n",
    "            Movement_plot(Destination_x,Destination_y,Vec_x,Vec_y)\n",
    "            break\n",
    "            \n",
    "        Vec_x.append(Current_x)\n",
    "        Vec_y.append(Current_y)\n",
    "        Current_x=Next_x\n",
    "        Current_y=Next_y\n",
    "        Current_angle=Next_angle\n",
    "        Total_step+=1\n",
    "Run_3()   "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 62,
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "341\n"
     ]
    },
    {
     "data": {
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kIrjvIlHWJrgDAABBybUPpeikrmN8Kd5IQGSC+y4SZW2COwAAEJRQ+52MedTVjC/j+woI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\nDwCEM+EOAADAaGVStR3eAYB7gjtAR8bbAZ7wcgGnKpPa78n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      "text/plain": [
       "<PIL.Image.Image image mode=RGB size=2000x2000 at 0x150A5EF2630>"
      ]
     },
     "execution_count": 62,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Movement_plot(1100,250,Vec_x,Vec_y)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "2"
      ]
     },
     "execution_count": 63,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "len(range(2))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.6.2"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
